kcan

Rust CAN utilities for actuator control, from Knott Dynamics.

kcan is a seed crate focused on command framing for robotics systems, including actuator pipelines used in humanoid-style kinematics.

Purpose

• Provide a tiny, dependency-free CAN frame representation.
• Offer lightweight actuator command helpers for position/velocity/torque flows.
• Include a small mailbox queue for test-friendly command/message scheduling.

Install

cargo add kcan

Usage

use kcan::{KCanActuatorCommand, KCanMailbox};

let mut bus = KCanMailbox::new();
bus.send_command(KCanActuatorCommand::position(0x01, 1024));

let raw = bus.pop_outbound().expect("outbound frame");
println!("send id=0x{:x}, dlc={}", raw.id(), raw.dlc());

License

MIT OR Apache-2.0